31 #ifndef _POLYNOME_FOOT_H_ 32 #define _POLYNOME_FOOT_H_ 74 Polynome3(
double FT,
double IP,
double IS,
double FP,
double FS);
81 void SetParameters(
double FT,
double FP);
85 void SetParameters(
double FT,
double IP,
double IS,
double FP,
double FS);
92 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
95 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
96 double &InitPos,
double &InitSpeed);
111 Polynome4(
double FT,
double MP,
double FP = 0.0);
116 void SetParameters(
double FT,
double MP,
double FP = 0.0);
125 void SetParameters(
double FT,
double InitPos,
double InitSpeed,
126 double InitAcc,
double FinalSpeed,
double FinalAcc);
133 void SetParametersWithInitPosInitSpeed(
double FT,
double MP,
double InitPos,
134 double InitSpeed,
double FP = 0.0);
137 void GetParametersWithInitPosInitSpeed(
double &FT,
double &MP,
double &FP,
138 double &InitPos,
double &InitSpeed);
152 double InitPos_, InitSpeed_, InitAcc_, FinalPos_, FinalSpeed_, FinalAcc_;
161 void SetParameters(
double FT,
double FP);
167 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
173 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
174 double &InitPos,
double &InitSpeed);
178 void SetParameters(
double FT,
double FP,
double InitPos,
double InitSpeed,
179 double InitAcc,
double InitJerk = 0.0);
184 void SetParameters(
double FT,
double InitPos,
double InitSpeed,
185 double InitAcc,
double FinalPos,
double FinalSpeed,
195 double MP_, FP_, InitPos_, InitSpeed_, InitAcc_;
201 Polynome6(
double FT,
double MP,
double FP = 0.0);
206 void SetParameters(
double FT,
double MP,
double FP = 0.0);
207 void SetParametersWithMiddlePos(
double FT,
double MP,
double InitPos,
208 double InitSpeed,
double InitAcc = 0.0,
211 void GetParametersWithInitPosInitSpeed(
double &TimeInterval,
212 double &MiddlePosition,
213 double &FinalPosition,
214 double &InitPosition,
223 double FP_, InitPos_, InitSpeed_, InitAcc_, InitJerk_;
232 void SetParameters(
double FT,
double FP);
238 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
243 void SetParameters(
double FT,
double FP,
double InitPos,
double InitSpeed,
244 double InitAcc,
double InitJerk = 0.0);
250 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
251 double &InitPos,
double &InitSpeed);
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:221
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:66
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:106
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:150
Definition: Polynome.hh:42
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:193
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41